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<div class="header">
  <div class="headertitle">
<div class="title">Transform.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2008 Gael Guennebaud &lt;gael.guennebaud@inria.fr&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright (C) 2009 Benoit Jacob &lt;jacob.benoit.1@gmail.com&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// Copyright (C) 2010 Hauke Heibel &lt;hauke.heibel@gmail.com&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef EIGEN_TRANSFORM_H</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define EIGEN_TRANSFORM_H</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a> {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Transform&gt;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">struct </span>transform_traits</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="keyword">enum</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  {</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    Dim = Transform::Dim,</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    HDim = Transform::HDim,</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    Mode = Transform::Mode,</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    IsProjective = (int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>))</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  };</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;};</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> TransformType,</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          <span class="keyword">typename</span> MatrixType,</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;          <span class="keywordtype">int</span> Case = transform_traits&lt;TransformType&gt;::IsProjective ? 0</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                   : int(MatrixType::RowsAtCompileTime) == int(transform_traits&lt;TransformType&gt;::HDim) ? 1</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                   : 2,</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;          <span class="keywordtype">int</span> RhsCols = MatrixType::ColsAtCompileTime&gt;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">struct </span>transform_right_product_impl;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> Other,</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;          <span class="keywordtype">int</span> Mode,</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;          <span class="keywordtype">int</span> Options,</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          <span class="keywordtype">int</span> Dim,</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          <span class="keywordtype">int</span> HDim,</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;          <span class="keywordtype">int</span> OtherRows=Other::RowsAtCompileTime,</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          <span class="keywordtype">int</span> OtherCols=Other::ColsAtCompileTime&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">struct </span>transform_left_product_impl;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> Lhs,</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;          <span class="keyword">typename</span> Rhs,</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;          <span class="keywordtype">bool</span> AnyProjective =</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            transform_traits&lt;Lhs&gt;::IsProjective ||</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            transform_traits&lt;Rhs&gt;::IsProjective&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">struct </span>transform_transform_product_impl;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> Other,</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;          <span class="keywordtype">int</span> Mode,</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;          <span class="keywordtype">int</span> Options,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          <span class="keywordtype">int</span> Dim,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          <span class="keywordtype">int</span> HDim,</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <span class="keywordtype">int</span> OtherRows=Other::RowsAtCompileTime,</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <span class="keywordtype">int</span> OtherCols=Other::ColsAtCompileTime&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">struct </span>transform_construct_from_matrix;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType&gt; <span class="keyword">struct </span>transform_take_affine_part;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Dim_, <span class="keywordtype">int</span> Mode_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">struct </span>traits&lt;Transform&lt;Scalar_,Dim_,Mode_,Options_&gt; &gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a> StorageIndex;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">typedef</span> Dense StorageKind;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    Dim1 = Dim_==<a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> ? Dim_ : Dim_ + 1,</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    RowsAtCompileTime = Mode_==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a> ? Dim1 : Dim_,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    ColsAtCompileTime = Dim1,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    MaxRowsAtCompileTime = RowsAtCompileTime,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    MaxColsAtCompileTime = ColsAtCompileTime,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    Flags = 0</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  };</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;};</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Mode&gt; <span class="keyword">struct </span>transform_make_affine;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keywordtype">int</span> Dim_, <span class="keywordtype">int</span> Mode_, <span class="keywordtype">int</span> Options_&gt;</div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html">  206</a></span>&#160;<span class="keyword">class </span><a class="code" href="classEigen_1_1Transform.html">Transform</a></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;{</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a7924a893752f42d33ca8dca33280ebc7">  209</a></span>&#160;  <a class="code" href="classEigen_1_1Transform.html#a7924a893752f42d33ca8dca33280ebc7">EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE</a>(Scalar_,Dim_==<a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> ? <a class="code" href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Dynamic</a> : (Dim_+1)*(Dim_+1))</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  enum {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Mode = Mode_,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Options = Options_,</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    Dim = Dim_,     </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    HDim = Dim_+1,  </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    Rows = int(Mode)==(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>) ? Dim : HDim</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  };</div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">  218</a></span>&#160;  <span class="keyword">typedef</span> Scalar_ <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keyword">typedef</span> <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a> StorageIndex;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">  220</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a> <a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a>; </div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">  222</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Matrix.html">internal::make_proper_matrix_type&lt;Scalar,Rows,HDim,Options&gt;::type</a> <a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ada1f35e4ec62a77c63c99282f95cbbc8">  224</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a> <a class="code" href="classEigen_1_1Transform.html#ada1f35e4ec62a77c63c99282f95cbbc8">ConstMatrixType</a>;</div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae14a5178e9c3b434b6ab343bba8a9232">  226</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,Dim,Dim,Options&gt;</a> <a class="code" href="classEigen_1_1Transform.html#ae14a5178e9c3b434b6ab343bba8a9232">LinearMatrixType</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ad6d84e2c0438b13fc4fff332aca116fa">  228</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Block.html">Block</a>&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,Dim,Dim,int(Mode)==(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>) &amp;&amp; (<span class="keywordtype">int</span>(Options)&amp;<a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a77c993a8d9f6efe5c1159fb2ab07dd4f">RowMajor</a>)==0&gt; <a class="code" href="classEigen_1_1Block.html">LinearPart</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a9ebace9975ee01a2b82f63ee353a549a">  230</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Block.html">Block</a>&lt;<a class="code" href="classEigen_1_1Transform.html#ada1f35e4ec62a77c63c99282f95cbbc8">ConstMatrixType</a>,Dim,Dim,int(Mode)==(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>) &amp;&amp; (<span class="keywordtype">int</span>(Options)&amp;<a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a77c993a8d9f6efe5c1159fb2ab07dd4f">RowMajor</a>)==0&gt; <a class="code" href="classEigen_1_1Block.html">ConstLinearPart</a>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keyword">typedef</span> std::conditional_t&lt;int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>),</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                              <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a>&amp;,</div>
<div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#aa4d22f6827bf7c2b67d0c609c8e31fdb">  234</a></span>&#160;                              <a class="code" href="classEigen_1_1Block.html">Block&lt;MatrixType,Dim,HDim&gt;</a> &gt; <a class="code" href="classEigen_1_1Transform.html#aa4d22f6827bf7c2b67d0c609c8e31fdb">AffinePart</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keyword">typedef</span> std::conditional_t&lt;int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>),</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                              <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a>&amp;,</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a0919aff2b16c0c97cbfa4dd16a71c946">  238</a></span>&#160;                              <span class="keyword">const</span> <a class="code" href="classEigen_1_1Block.html">Block&lt;const MatrixType,Dim,HDim&gt;</a> &gt; <a class="code" href="classEigen_1_1Transform.html#a0919aff2b16c0c97cbfa4dd16a71c946">ConstAffinePart</a>;</div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a7b27e078095260aebef444023b96d090">  240</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Matrix.html">Matrix&lt;Scalar,Dim,1&gt;</a> <a class="code" href="classEigen_1_1Transform.html#a7b27e078095260aebef444023b96d090">VectorType</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a98ad9f68ecea39c6f0b5fcf184fbcb47">  242</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Block.html">Block</a>&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,Dim,1,!(internal::traits&lt;MatrixType&gt;::Flags &amp; <a class="code" href="group__flags.html#gae4f56c2a60bbe4bd2e44c5b19cbe8762">RowMajorBit</a>)&gt; <a class="code" href="classEigen_1_1Block.html">TranslationPart</a>;</div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae0f9a88eecc888dbffb8b27f67d2e540">  244</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Block.html">Block</a>&lt;<a class="code" href="classEigen_1_1Transform.html#ada1f35e4ec62a77c63c99282f95cbbc8">ConstMatrixType</a>,Dim,1,!(internal::traits&lt;MatrixType&gt;::Flags &amp; <a class="code" href="group__flags.html#gae4f56c2a60bbe4bd2e44c5b19cbe8762">RowMajorBit</a>)&gt; <a class="code" href="classEigen_1_1Block.html">ConstTranslationPart</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">  246</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Translation.html">Translation&lt;Scalar,Dim&gt;</a> <a class="code" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">TranslationType</a>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="comment">// this intermediate enum is needed to avoid an ICE with gcc 3.4 and 4.0</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keyword">enum</span> { TransformTimeDiagonalMode = ((Mode==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>))?<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>:<span class="keywordtype">int</span>(Mode)) };</div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">  251</a></span>&#160;  <span class="keyword">typedef</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,TransformTimeDiagonalMode&gt;</a> <a class="code" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">TransformTimeDiagonalReturnType</a>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a> m_matrix;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">  261</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>()</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    internal::transform_make_affine&lt;(int(Mode)==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a> || int(Mode)==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a> : <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>&gt;::run(m_matrix);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">TranslationType</a>&amp; t)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    *<span class="keyword">this</span> = t;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> UniformScaling&lt;Scalar&gt;&amp; s)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    *<span class="keyword">this</span> = s;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> RotationBase&lt;Derived, Dim&gt;&amp; r)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    *<span class="keyword">this</span> = r;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keyword">typedef</span> internal::transform_take_affine_part&lt;Transform&gt; take_affine_part;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ab1e42db8cdffea634f4094d56850ab6e">  288</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Transform.html#ab1e42db8cdffea634f4094d56850ab6e">Transform</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a>&amp; other)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    EIGEN_STATIC_ASSERT((internal::is_same&lt;Scalar,typename OtherDerived::Scalar&gt;::value),</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    internal::transform_construct_from_matrix&lt;OtherDerived,Mode,Options,Dim,HDim&gt;::run(<span class="keyword">this</span>, other.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>());</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">  299</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a>&amp; other)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    EIGEN_STATIC_ASSERT((internal::is_same&lt;Scalar,typename OtherDerived::Scalar&gt;::value),</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    internal::transform_construct_from_matrix&lt;OtherDerived,Mode,Options,Dim,HDim&gt;::run(<span class="keyword">this</span>, other.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>());</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,OtherOptions&gt;</a>&amp; other)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="comment">// only the options change, we can directly copy the matrices</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    m_matrix = other.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>();</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherMode,<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt;&amp; other)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="comment">// prevent conversions as:</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="comment">// Affine | AffineCompact | Isometry = Projective</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    EIGEN_STATIC_ASSERT(internal::check_implication(OtherMode==<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>), Mode==<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)),</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="comment">// prevent conversions as:</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="comment">// Isometry = Affine | AffineCompact</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    EIGEN_STATIC_ASSERT(internal::check_implication(OtherMode==<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>)||OtherMode==<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>), Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>)),</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                        YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION)</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keyword">enum</span> { ModeIsAffineCompact = Mode == int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>),</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;           OtherModeIsAffineCompact = OtherMode == int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    };</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">if</span>(EIGEN_CONST_CONDITIONAL(ModeIsAffineCompact == OtherModeIsAffineCompact))</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="comment">// We need the block expression because the code is compiled for all</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="comment">// combinations of transformations and will trigger a compile time error</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="comment">// if one tries to assign the matrices directly</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      m_matrix.template block&lt;Dim,Dim+1&gt;(0,0) = other.matrix().template block&lt;Dim,Dim+1&gt;(0,0);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      <a class="code" href="classEigen_1_1Transform.html#adb282510aef3951e1deb27466cf8167b">makeAffine</a>();</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(EIGEN_CONST_CONDITIONAL(OtherModeIsAffineCompact))</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt;::MatrixType</a> OtherMatrixType;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      internal::transform_construct_from_matrix&lt;OtherMatrixType,Mode,Options,Dim,HDim&gt;::run(<span class="keyword">this</span>, other.matrix());</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    {</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="comment">// here we know that Mode == AffineCompact and OtherMode != AffineCompact.</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="comment">// if OtherMode were Projective, the static assert above would already have caught it.</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="comment">// So the only possibility is that OtherMode == Affine</span></div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>() = other.linear();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>() = other.translation();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> ReturnByValue&lt;OtherDerived&gt;&amp; other)</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    other.evalTo(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> ReturnByValue&lt;OtherDerived&gt;&amp; other)</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    other.evalTo(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="preprocessor">  #ifdef EIGEN_QT_SUPPORT</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;<span class="preprocessor">  #if (QT_VERSION &lt; QT_VERSION_CHECK(6, 0, 0))</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> QMatrix&amp; other);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> QMatrix&amp; other);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keyword">inline</span> QMatrix toQMatrix(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<span class="keyword">const</span> QTransform&amp; other);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> QTransform&amp; other);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keyword">inline</span> QTransform <a class="code" href="classEigen_1_1Transform.html#ae954e369a06472f44b72b199beb83cd2">toQTransform</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR <a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> rows() const EIGEN_NOEXCEPT { <span class="keywordflow">return</span> int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>) ? m_matrix.cols() : (m_matrix.cols()-1); }</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  EIGEN_DEVICE_FUNC EIGEN_CONSTEXPR <a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> cols() const EIGEN_NOEXCEPT { <span class="keywordflow">return</span> m_matrix.cols(); }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a2cf0102f72714f18ff3bf787e4b5b5a7">  387</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a> <a class="code" href="classEigen_1_1Transform.html#a2cf0102f72714f18ff3bf787e4b5b5a7">operator() </a>(<a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> row, <a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> col)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_matrix(row,col); }</div>
<div class="line"><a name="l00390"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ab3fd41ce001f1a09f08593bcef075bbd">  390</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; <a class="code" href="classEigen_1_1Transform.html#a2cf0102f72714f18ff3bf787e4b5b5a7">operator() </a>(<a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> row, <a class="code" href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Index</a> col) { <span class="keywordflow">return</span> m_matrix(row,col); }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">  393</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a>&amp; <a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_matrix; }</div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a50338fe8ce60e175fa5a42046ea70ed0">  395</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Matrix.html">MatrixType</a>&amp; <a class="code" href="classEigen_1_1Transform.html#a50338fe8ce60e175fa5a42046ea70ed0">matrix</a>() { <span class="keywordflow">return</span> m_matrix; }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">  398</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">ConstLinearPart</a> <a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html#a9ebace9975ee01a2b82f63ee353a549a">ConstLinearPart</a>(m_matrix,0,0); }</div>
<div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a8aafb7e536e68b13b05a5cbd24d71379">  400</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">LinearPart</a> <a class="code" href="classEigen_1_1Transform.html#a8aafb7e536e68b13b05a5cbd24d71379">linear</a>() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html#ad6d84e2c0438b13fc4fff332aca116fa">LinearPart</a>(m_matrix,0,0); }</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a084060033661f673a7a05eb9b28d1584">  403</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#a0919aff2b16c0c97cbfa4dd16a71c946">ConstAffinePart</a> <a class="code" href="classEigen_1_1Transform.html#a084060033661f673a7a05eb9b28d1584">affine</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> take_affine_part::run(m_matrix); }</div>
<div class="line"><a name="l00405"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a61b7a97da2ce3e46902d97af27c1a79a">  405</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#aa4d22f6827bf7c2b67d0c609c8e31fdb">AffinePart</a> <a class="code" href="classEigen_1_1Transform.html#a61b7a97da2ce3e46902d97af27c1a79a">affine</a>() { <span class="keywordflow">return</span> take_affine_part::run(m_matrix); }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">  408</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">ConstTranslationPart</a> <a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html#ae0f9a88eecc888dbffb8b27f67d2e540">ConstTranslationPart</a>(m_matrix,0,Dim); }</div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#afbb1026d0b81b51fea103bd8fc947f57">  410</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">TranslationPart</a> <a class="code" href="classEigen_1_1Transform.html#afbb1026d0b81b51fea103bd8fc947f57">translation</a>() { <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html#a98ad9f68ecea39c6f0b5fcf184fbcb47">TranslationPart</a>(m_matrix,0,Dim); }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="comment">// note: this function is defined here because some compilers cannot find the respective declaration</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keyword">const</span> <span class="keyword">typename</span> internal::transform_right_product_impl&lt;Transform, OtherDerived&gt;::ResultType</div>
<div class="line"><a name="l00439"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">  439</a></span>&#160;  <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a> &amp;other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> internal::transform_right_product_impl&lt;Transform, OtherDerived&gt;::run(*<span class="keyword">this</span>,other.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>()); }</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt; <span class="keyword">friend</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keyword">typename</span> internal::transform_left_product_impl&lt;OtherDerived,Mode,Options,Dim_,Dim_+1&gt;::ResultType</div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ab57e4e339a4d7aeab63dd0220ab6ed51">  451</a></span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a> &amp;a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a> &amp;b)</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  { <span class="keywordflow">return</span> internal::transform_left_product_impl&lt;OtherDerived,Mode,Options,Dim,HDim&gt;::run(a.<a class="code" href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>(),b); }</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> DiagonalDerived&gt;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">TransformTimeDiagonalReturnType</a></div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a9698e25d64567157be051c1a0b7917de">  462</a></span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> DiagonalBase&lt;DiagonalDerived&gt; &amp;b)<span class="keyword"> const</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <a class="code" href="classEigen_1_1Transform.html">TransformTimeDiagonalReturnType</a> res(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    res.linearExt() *= b;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  }</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> DiagonalDerived&gt;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">friend</span> <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">TransformTimeDiagonalReturnType</a></div>
<div class="line"><a name="l00477"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a8941cc25b120ff7ee7b435150ba699b3">  477</a></span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> DiagonalBase&lt;DiagonalDerived&gt; &amp;a, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a> &amp;b)</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  {</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    <a class="code" href="classEigen_1_1Transform.html">TransformTimeDiagonalReturnType</a> res;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    res.<a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>().noalias() = a*b.<a class="code" href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">linear</a>();</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    res.<a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>().noalias() = a*b.<a class="code" href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">translation</a>();</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <span class="keywordflow">if</span> (EIGEN_CONST_CONDITIONAL(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>)))</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().row(Dim) = b.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().row(Dim);</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; operator*=(<span class="keyword">const</span> <a class="code" href="structEigen_1_1EigenBase.html">EigenBase&lt;OtherDerived&gt;</a>&amp; other) { <span class="keywordflow">return</span> *<span class="keyword">this</span> = *<span class="keyword">this</span> * other; }</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a87b0a04690eb179856b6ef63f7ee1f9d">  491</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a> <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keywordflow">return</span> internal::transform_transform_product_impl&lt;Transform,Transform&gt;::run(*<span class="keyword">this</span>,other);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  }</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;<span class="preprocessor">  #if EIGEN_COMP_ICC</span></div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  <span class="comment">// this intermediate structure permits to workaround a bug in ICC 11:</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="comment">//   error: template instantiation resulted in unexpected function type of &quot;Eigen::Transform&lt;double, 3, 32, 0&gt;</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="comment">//             (const Eigen::Transform&lt;double, 3, 2, 0&gt; &amp;) const&quot;</span></div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  <span class="comment">//  (the meaning of a name may have changed since the template declaration -- the type of the template is:</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="comment">// &quot;Eigen::internal::transform_transform_product_impl&lt;Eigen::Transform&lt;double, 3, 32, 0&gt;,</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  <span class="comment">//     Eigen::Transform&lt;double, 3, Mode, Options&gt;, &lt;expression&gt;&gt;::ResultType (const Eigen::Transform&lt;double, 3, Mode, Options&gt; &amp;) const&quot;)</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherMode,<span class="keywordtype">int</span> OtherOptions&gt; <span class="keyword">struct </span>icc_11_workaround</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;  {</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    <span class="keyword">typedef</span> internal::transform_transform_product_impl&lt;Transform,Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt; &gt; ProductType;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> ProductType::ResultType ResultType;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  };</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherMode,<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  <span class="keyword">inline</span> <span class="keyword">typename</span> icc_11_workaround&lt;OtherMode,OtherOptions&gt;::ResultType</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt;&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> icc_11_workaround&lt;OtherMode,OtherOptions&gt;::ProductType ProductType;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;    <span class="keywordflow">return</span> ProductType::run(*<span class="keyword">this</span>,other);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  }</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;<span class="preprocessor">  #else</span></div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="keyword">template</span>&lt;<span class="keywordtype">int</span> OtherMode,<span class="keywordtype">int</span> OtherOptions&gt;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::transform_transform_product_impl&lt;Transform,Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt; &gt;::ResultType</div>
<div class="line"><a name="l00524"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a4476f8e1255864ac287ce13bcd518356">  524</a></span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator * </a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt;</a>&amp; other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="keywordflow">return</span> internal::transform_transform_product_impl&lt;Transform,Transform&lt;Scalar,Dim,OtherMode,OtherOptions&gt; &gt;::run(*<span class="keyword">this</span>,other);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  }</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a79155e1b04e73051ae194fe62cb980fd">  531</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#a79155e1b04e73051ae194fe62cb980fd">setIdentity</a>() { m_matrix.<a class="code" href="classEigen_1_1MatrixBase.html#a18e969adfdf2db4ac44c47fbdc854683">setIdentity</a>(); }</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a15ba7101d08163b421ab439c90721524">  537</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a> <a class="code" href="classEigen_1_1Transform.html#a15ba7101d08163b421ab439c90721524">Identity</a>()</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  {</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>(<a class="code" href="classEigen_1_1MatrixBase.html#a98bb9a0f705c6dfde85b0bfff31bf88f">MatrixType::Identity</a>());</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  }</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; scale(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; prescale(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other);</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; scale(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; s);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; prescale(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; s);</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; translate(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other);</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; pretranslate(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other);</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160; </div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationType&gt;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; rotate(<span class="keyword">const</span> RotationType&amp; <a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">rotation</a>);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160; </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationType&gt;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; prerotate(<span class="keyword">const</span> RotationType&amp; <a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">rotation</a>);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#ae93a25d5e15af9446d7e5bc0e7a959d0">shear</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sx, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sy);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#a17c40209cfd2d094cf654504aca95bf1">preshear</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sx, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sy);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">TranslationType</a>&amp; t);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; operator*=(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">TranslationType</a>&amp; t) { <span class="keywordflow">return</span> translate(t.vector()); }</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160; </div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a> <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator*</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">TranslationType</a>&amp; t) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> UniformScaling&lt;Scalar&gt;&amp; t);</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; operator*=(<span class="keyword">const</span> UniformScaling&lt;Scalar&gt;&amp; s) { <span class="keywordflow">return</span> scale(s.factor()); }</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">TransformTimeDiagonalReturnType</a> <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator*</a>(<span class="keyword">const</span> UniformScaling&lt;Scalar&gt;&amp; s)<span class="keyword"> const</span></div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;<span class="keyword">  </span>{</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <a class="code" href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">TransformTimeDiagonalReturnType</a> res = *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    res.scale(s.factor());</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; operator*=(<span class="keyword">const</span> DiagonalMatrix&lt;Scalar,Dim&gt;&amp; s) { linearExt() *= s; <span class="keywordflow">return</span> *<span class="keyword">this</span>; }</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">operator=</a>(<span class="keyword">const</span> RotationBase&lt;Derived,Dim&gt;&amp; r);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; operator*=(<span class="keyword">const</span> RotationBase&lt;Derived,Dim&gt;&amp; r) { <span class="keywordflow">return</span> rotate(r.toRotationMatrix()); }</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a> <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">operator*</a>(<span class="keyword">const</span> RotationBase&lt;Derived,Dim&gt;&amp; r) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keyword">typedef</span> std::conditional_t&lt;int(Mode)==<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>,<a class="code" href="classEigen_1_1Transform.html#a9ebace9975ee01a2b82f63ee353a549a">ConstLinearPart</a>,<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#ae14a5178e9c3b434b6ab343bba8a9232">LinearMatrixType</a>&gt; RotationReturnType;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  EIGEN_DEVICE_FUNC RotationReturnType <a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">rotation</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationMatrixType, <span class="keyword">typename</span> ScalingMatrixType&gt;</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#a7213fd78501c1185c4a1441e33c812d3">computeRotationScaling</a>(RotationMatrixType *<a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">rotation</a>, ScalingMatrixType *scaling) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ScalingMatrixType, <span class="keyword">typename</span> RotationMatrixType&gt;</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#a247b079c63f46bb652b3776484838216">computeScalingRotation</a>(ScalingMatrixType *scaling, RotationMatrixType *<a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">rotation</a>) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> PositionDerived, <span class="keyword">typename</span> OrientationType, <span class="keyword">typename</span> ScaleDerived&gt;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a>&amp; fromPositionOrientationScale(<span class="keyword">const</span> MatrixBase&lt;PositionDerived&gt; &amp;position,</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <span class="keyword">const</span> OrientationType&amp; orientation, <span class="keyword">const</span> MatrixBase&lt;ScaleDerived&gt; &amp;scale);</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform</a> <a class="code" href="classEigen_1_1Transform.html#ab8dbcd157bf194efca1a5413c0945211">inverse</a>(<a class="code" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a> traits = (<a class="code" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a>)Mode) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00622"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#acafc06db5d5cc36e316a5d85d5fa7bc8">  622</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>* <a class="code" href="classEigen_1_1Transform.html#acafc06db5d5cc36e316a5d85d5fa7bc8">data</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#ac54123f62de4c46a9107ff53890b6116">data</a>(); }</div>
<div class="line"><a name="l00624"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a01b957a1a2779b30c7756c7ccc74fdb3">  624</a></span>&#160;  EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>* <a class="code" href="classEigen_1_1Transform.html#a01b957a1a2779b30c7756c7ccc74fdb3">data</a>() { <span class="keywordflow">return</span> m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#ac54123f62de4c46a9107ff53890b6116">data</a>(); }</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160; </div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00632"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a3ed6d91135a87d168d5470a51f1dbb3b">  632</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">typename</span> internal::cast_return_type&lt;Transform,Transform&lt;NewScalarType,Dim,Mode,Options&gt; &gt;::type <a class="code" href="classEigen_1_1Transform.html#a3ed6d91135a87d168d5470a51f1dbb3b">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> <span class="keyword">typename</span> internal::cast_return_type&lt;Transform,Transform&lt;NewScalarType,Dim,Mode,Options&gt; &gt;::type(*<span class="keyword">this</span>); }</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160; </div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherScalarType&gt;</div>
<div class="line"><a name="l00637"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#aac6142c294732a1ce692799c908fa81a">  637</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1Transform.html#aac6142c294732a1ce692799c908fa81a">Transform</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;OtherScalarType,Dim,Mode,Options&gt;</a>&amp; other)</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  {</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    check_template_params();</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    m_matrix = other.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().template cast&lt;Scalar&gt;();</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  }</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00647"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a5ca48af274337349e9b8d129ecf7c35b">  647</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1Transform.html#a5ca48af274337349e9b8d129ecf7c35b">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html">Transform</a>&amp; other, <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a>&amp; prec = <a class="code" href="structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> m_matrix.<a class="code" href="classEigen_1_1DenseBase.html#ae8443357b808cd393be1b51974213f9c">isApprox</a>(other.m_matrix, prec); }</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#adb282510aef3951e1deb27466cf8167b">  652</a></span>&#160;  EIGEN_DEVICE_FUNC <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#adb282510aef3951e1deb27466cf8167b">makeAffine</a>()</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  {</div>
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<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160; </div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Block.html">Block</a>&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)?HDim:Dim,Dim&gt; linearExt()</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  { <span class="keywordflow">return</span> m_matrix.template block&lt;int(Mode)==int(Projective)?HDim:Dim,Dim&gt;(0,0); }</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Block&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)?HDim:Dim,Dim&gt; linearExt()<span class="keyword"> const</span></div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> m_matrix.template block&lt;int(Mode)==int(Projective)?HDim:Dim,Dim&gt;(0,0); }</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160; </div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Block&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)?HDim:Dim,1&gt; translationExt()</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;  { <span class="keywordflow">return</span> m_matrix.template block&lt;int(Mode)==int(Projective)?HDim:Dim,1&gt;(0,Dim); }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <span class="keyword">const</span> Block&lt;<a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">MatrixType</a>,int(Mode)==int(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)?HDim:Dim,1&gt; translationExt()<span class="keyword"> const</span></div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;<span class="keyword">  </span>{ <span class="keywordflow">return</span> m_matrix.template block&lt;int(Mode)==int(Projective)?HDim:Dim,1&gt;(0,Dim); }</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160; </div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160; </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;<span class="preprocessor">  #ifdef EIGEN_TRANSFORM_PLUGIN</span></div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;<span class="preprocessor">  #include EIGEN_TRANSFORM_PLUGIN</span></div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160; </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;<span class="keyword">protected</span>:</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;<span class="preprocessor">  #ifndef EIGEN_PARSED_BY_DOXYGEN</span></div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    EIGEN_DEVICE_FUNC <span class="keyword">static</span> EIGEN_STRONG_INLINE <span class="keywordtype">void</span> check_template_params()</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    {</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      EIGEN_STATIC_ASSERT((Options &amp; (<a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a">DontAlign</a>|<a class="code" href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a77c993a8d9f6efe5c1159fb2ab07dd4f">RowMajor</a>)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)</div>
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<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;<span class="preprocessor">  #endif</span></div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160; </div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;};</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,2,Isometry&gt; Isometry2f;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,3,Isometry&gt; Isometry3f;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,2,Isometry&gt; Isometry2d;</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,3,Isometry&gt; Isometry3d;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,2,Affine&gt; Affine2f;</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,3,Affine&gt; Affine3f;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,2,Affine&gt; Affine2d;</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,3,Affine&gt; Affine3d;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,2,AffineCompact&gt; AffineCompact2f;</div>
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<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160; </div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,2,Projective&gt; Projective2f;</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;<span class="keyword">typedef</span> Transform&lt;float,3,Projective&gt; Projective3f;</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,2,Projective&gt; Projective2d;</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;<span class="keyword">typedef</span> Transform&lt;double,3,Projective&gt; Projective3d;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160; </div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;<span class="comment">/**************************</span></div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;<span class="comment">*** Optional QT support ***</span></div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;<span class="comment">**************************/</span></div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160; </div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;<span class="preprocessor">#ifdef EIGEN_QT_SUPPORT</span></div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160; </div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;<span class="preprocessor">#if (QT_VERSION &lt; QT_VERSION_CHECK(6, 0, 0))</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode,<span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;<a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform&lt;Scalar,Dim,Mode,Options&gt;::Transform</a>(<span class="keyword">const</span> QMatrix&amp; other)</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;{</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;  check_template_params();</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  *<span class="keyword">this</span> = other;</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;}</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160; </div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode,<span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;Transform&lt;Scalar,Dim,Mode,Options&gt;&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator=</a>(<span class="keyword">const</span> QMatrix&amp; other)</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;{</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="keywordflow">if</span> (EIGEN_CONST_CONDITIONAL(Mode == <span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>)))</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    m_matrix &lt;&lt; other.m11(), other.m21(), other.dx(),</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;                other.m12(), other.m22(), other.dy();</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    m_matrix &lt;&lt; other.m11(), other.m21(), other.dx(),</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;                other.m12(), other.m22(), other.dy(),</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;                0, 0, 1;</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;}</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; </div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;QMatrix Transform&lt;Scalar,Dim,Mode,Options&gt;::toQMatrix(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  check_template_params();</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;  <span class="keywordflow">return</span> QMatrix(m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,0), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,0),</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;                 m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,1), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,1),</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;                 m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,2), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,2));</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;}</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode,<span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00792"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a63e9a5b9cf964921c24023dd680dee6d">  792</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Transform&lt;Scalar,Dim,Mode,Options&gt;::Transform</a>(<span class="keyword">const</span> QTransform&amp; other)</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;{</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;  check_template_params();</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  *<span class="keyword">this</span> = other;</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;}</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00803"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a54986164dcb1d0f7bfa216b8ef5272f6">  803</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator=</a>(<span class="keyword">const</span> QTransform&amp; other)</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;{</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;  check_template_params();</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;  <span class="keywordflow">if</span> (EIGEN_CONST_CONDITIONAL(Mode == <span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>)))</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;    m_matrix &lt;&lt; other.m11(), other.m21(), other.dx(),</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;                other.m12(), other.m22(), other.dy();</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    m_matrix &lt;&lt; other.m11(), other.m21(), other.dx(),</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;                other.m12(), other.m22(), other.dy(),</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;                other.m13(), other.m23(), other.m33();</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;}</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160; </div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00822"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae954e369a06472f44b72b199beb83cd2">  822</a></span>&#160;QTransform <a class="code" href="classEigen_1_1Transform.html#ae954e369a06472f44b72b199beb83cd2">Transform&lt;Scalar,Dim,Mode,Options&gt;::toQTransform</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span></div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;  <span class="keywordflow">if</span> (EIGEN_CONST_CONDITIONAL(Mode == <span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>)))</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;    <span class="keywordflow">return</span> QTransform(m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,0), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,0),</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;                      m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,1), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,1),</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;                      m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,2), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,2));</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;    <span class="keywordflow">return</span> QTransform(m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,0), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,0), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(2,0),</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;                      m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,1), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,1), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(2,1),</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;                      m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(0,2), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(1,2), m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#a954cd075bcd7babb429e3e4b9a418651">coeff</a>(2,2));</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;}</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160; </div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;<span class="comment">/*********************</span></div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;<span class="comment">*** Procedural API ***</span></div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;<span class="comment">*********************/</span></div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00847"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae4b9d6c0ed881e7fbb552550e985fd50">  847</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::scale</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other)</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;{</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,<span class="keywordtype">int</span>(Dim))</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  linearExt().noalias() = (linearExt() * other.<a class="code" href="classEigen_1_1MatrixBase.html#a14235b62c90f93fe910070b4743782d0">asDiagonal</a>());</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;}</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160; </div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00860"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a7757f5d9e708e625cbd936b19269b2c8">  860</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp; <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::scale</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; s)</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;{</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;  linearExt() *= s;</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;}</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160; </div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00874"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#aaace811c530e5a6cc6c914a73a0cc8a4">  874</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::prescale</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other)</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;{</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,<span class="keywordtype">int</span>(Dim))</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;  affine().noalias() = (other.<a class="code" href="classEigen_1_1MatrixBase.html#a14235b62c90f93fe910070b4743782d0">asDiagonal</a>() * affine());</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;}</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160; </div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00887"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a96c5e49e1d779299f4975dfef93e14b3">  887</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp; <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::prescale</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; s)</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;{</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  m_matrix.template topRows&lt;Dim&gt;() *= s;</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;}</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160; </div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00901"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ab3d46c808fd22676aaf737c89ea4a846">  901</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::translate</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other)</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;{</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,<span class="keywordtype">int</span>(Dim))</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;  translationExt() += linearExt() * other;</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;}</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160; </div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> OtherDerived&gt;</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00915"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a4f6cd957f1dae0799475320054823108">  915</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::pretranslate</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;OtherDerived&gt;</a> &amp;other)</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;{</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,<span class="keywordtype">int</span>(Dim))</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;  <span class="keywordflow">if</span>(EIGEN_CONST_CONDITIONAL(<span class="keywordtype">int</span>(Mode)==<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)))</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;    affine() += other * m_matrix.row(Dim);</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;    translation() += other;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;}</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160; </div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationType&gt;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00945"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a66c55b8494d387d2e42260143ab6a385">  945</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::rotate</a>(<span class="keyword">const</span> RotationType&amp; rotation)</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;{</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;  linearExt() *= internal::toRotationMatrix&lt;Scalar,Dim&gt;(rotation);</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;}</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160; </div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationType&gt;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00961"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a7adfb258bafabe1777a0cbe4ec8997e7">  961</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::prerotate</a>(<span class="keyword">const</span> RotationType&amp; rotation)</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;{</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;  m_matrix.template block&lt;Dim,HDim&gt;(0,0) = internal::toRotationMatrix&lt;Scalar,Dim&gt;(rotation)</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;                                         * m_matrix.template block&lt;Dim,HDim&gt;(0,0);</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;}</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00975"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ae93a25d5e15af9446d7e5bc0e7a959d0">  975</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html#ae93a25d5e15af9446d7e5bc0e7a959d0">Transform&lt;Scalar,Dim,Mode,Options&gt;::shear</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sx, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sy)</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;{</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;  EIGEN_STATIC_ASSERT(<span class="keywordtype">int</span>(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> tmp = linear().col(0)*sy + linear().col(1);</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  linear() &lt;&lt; linear().col(0) + linear().col(1)*sx, tmp;</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;}</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160; </div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l00991"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a17c40209cfd2d094cf654504aca95bf1">  991</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html#a17c40209cfd2d094cf654504aca95bf1">Transform&lt;Scalar,Dim,Mode,Options&gt;::preshear</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sx, <span class="keyword">const</span> <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>&amp; sy)</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;{</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;  EIGEN_STATIC_ASSERT(<span class="keywordtype">int</span>(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;  EIGEN_STATIC_ASSERT(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;  m_matrix.template block&lt;Dim,HDim&gt;(0,0) = <a class="code" href="classEigen_1_1Matrix.html">LinearMatrixType</a>(1, sx, sy, 1) * m_matrix.template block&lt;Dim,HDim&gt;(0,0);</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;}</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160; </div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;<span class="comment">/******************************************************</span></div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;<span class="comment">*** Scaling, Translation and Rotation compatibility ***</span></div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;<span class="comment">******************************************************/</span></div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160; </div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator=</a>(<span class="keyword">const</span> TranslationType&amp; t)</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;{</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;  linear().<a class="code" href="classEigen_1_1Transform.html#a79155e1b04e73051ae194fe62cb980fd">setIdentity</a>();</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;  translation() = t.vector();</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;  makeAffine();</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;}</div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160; </div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Transform&lt;Scalar,Dim,Mode,Options&gt; <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator*</a>(<span class="keyword">const</span> TranslationType&amp; t)<span class="keyword"> const</span></div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;  Transform res = *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;  res.translate(t.vector());</div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;}</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160; </div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Transform&lt;Scalar,Dim,Mode,Options&gt;&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator=</a>(<span class="keyword">const</span> UniformScaling&lt;Scalar&gt;&amp; s)</div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;{</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  m_matrix.<a class="code" href="classEigen_1_1PlainObjectBase.html#acc39eaf7ba22b725c86f1b9b8bb57c3c">setZero</a>();</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;  linear().diagonal().fill(s.factor());</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;  makeAffine();</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;}</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160; </div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Transform&lt;Scalar,Dim,Mode,Options&gt;&amp; <a class="code" href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator=</a>(<span class="keyword">const</span> RotationBase&lt;Derived,Dim&gt;&amp; r)</div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;{</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;  linear() = internal::toRotationMatrix&lt;Scalar,Dim&gt;(r);</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  translation().setZero();</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  makeAffine();</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;}</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160; </div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;EIGEN_DEVICE_FUNC <span class="keyword">inline</span> Transform&lt;Scalar,Dim,Mode,Options&gt; <a class="code" href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">Transform&lt;Scalar,Dim,Mode,Options&gt;::operator*</a>(<span class="keyword">const</span> RotationBase&lt;Derived,Dim&gt;&amp; r)<span class="keyword"> const</span></div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;  Transform res = *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;  res.rotate(r.derived());</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;}</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; </div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;<span class="comment">/************************</span></div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;<span class="comment">*** Special functions ***</span></div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;<span class="comment">************************/</span></div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160; </div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Mode&gt; <span class="keyword">struct </span>transform_rotation_impl {</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType&gt;</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> TransformType::LinearMatrixType run(<span class="keyword">const</span> TransformType&amp; t)</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;  {</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::LinearMatrixType LinearMatrixType;</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;    LinearMatrixType result;</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;    t.computeRotationScaling(&amp;result, (LinearMatrixType*)0);</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;    <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;  }</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;};</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;<span class="keyword">template</span>&lt;&gt; <span class="keyword">struct </span>transform_rotation_impl&lt;<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>&gt; {</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType&gt;</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span></div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;  <span class="keyword">typename</span> TransformType::ConstLinearPart run(<span class="keyword">const</span> TransformType&amp; t)</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;  {</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;    <span class="keywordflow">return</span> t.linear();</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;  }</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;};</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;}</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;EIGEN_DEVICE_FUNC</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;<span class="keyword">typename</span> Transform&lt;Scalar,Dim,Mode,Options&gt;::RotationReturnType</div>
<div class="line"><a name="l01086"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746"> 1086</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">Transform&lt;Scalar,Dim,Mode,Options&gt;::rotation</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  <span class="keywordflow">return</span> internal::transform_rotation_impl&lt;Mode&gt;::run(*<span class="keyword">this</span>);</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;}</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160; </div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160; </div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> RotationMatrixType, <span class="keyword">typename</span> ScalingMatrixType&gt;</div>
<div class="line"><a name="l01105"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a7213fd78501c1185c4a1441e33c812d3"> 1105</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#a7213fd78501c1185c4a1441e33c812d3">Transform&lt;Scalar,Dim,Mode,Options&gt;::computeRotationScaling</a>(RotationMatrixType *rotation, ScalingMatrixType *scaling)<span class="keyword"> const</span></div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;  <span class="comment">// Note that JacobiSVD is faster than BDCSVD for small matrices.</span></div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;  <a class="code" href="classEigen_1_1JacobiSVD.html">JacobiSVD&lt;LinearMatrixType, ComputeFullU | ComputeFullV&gt;</a> svd(linear());</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160; </div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;  <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a> x = (svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>() * svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>()).determinant() &lt; <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(0) ? <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(-1) : <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(1); <span class="comment">// so x has absolute value 1</span></div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> sv(svd.<a class="code" href="classEigen_1_1SVDBase.html#a4e7bac123570c348f7ed6be909e1e474">singularValues</a>());</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;  sv.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(Dim-1) *= x;</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;  <span class="keywordflow">if</span>(scaling) *scaling = svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>() * sv.asDiagonal() * svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>();</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  <span class="keywordflow">if</span>(rotation)</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  {</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">LinearMatrixType</a> m(svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>());</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;    m.col(Dim-1) *= x;</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;    *rotation = m * svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>();</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;  }</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;}</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160; </div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> ScalingMatrixType, <span class="keyword">typename</span> RotationMatrixType&gt;</div>
<div class="line"><a name="l01135"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a247b079c63f46bb652b3776484838216"> 1135</a></span>&#160;EIGEN_DEVICE_FUNC <span class="keywordtype">void</span> <a class="code" href="classEigen_1_1Transform.html#a247b079c63f46bb652b3776484838216">Transform&lt;Scalar,Dim,Mode,Options&gt;::computeScalingRotation</a>(ScalingMatrixType *scaling, RotationMatrixType *rotation)<span class="keyword"> const</span></div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;  <span class="comment">// Note that JacobiSVD is faster than BDCSVD for small matrices.</span></div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;  <a class="code" href="classEigen_1_1JacobiSVD.html">JacobiSVD&lt;LinearMatrixType, ComputeFullU | ComputeFullV&gt;</a> svd(linear());</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160; </div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;  <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a> x = (svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>() * svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>()).determinant() &lt; <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(0) ? <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(-1) : <a class="code" href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Scalar</a>(1); <span class="comment">// so x has absolute value 1</span></div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;  <a class="code" href="classEigen_1_1Matrix.html">VectorType</a> sv(svd.<a class="code" href="classEigen_1_1SVDBase.html#a4e7bac123570c348f7ed6be909e1e474">singularValues</a>());</div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;  sv.<a class="code" href="classEigen_1_1PlainObjectBase.html#a992d58b5453e441dcfc80f21c2bfd1d7">coeffRef</a>(Dim-1) *= x;</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;  <span class="keywordflow">if</span>(scaling) *scaling = svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>() * sv.asDiagonal() * svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>();</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;  <span class="keywordflow">if</span>(rotation)</div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;  {</div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;    <a class="code" href="classEigen_1_1Matrix.html">LinearMatrixType</a> m(svd.<a class="code" href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">matrixU</a>());</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;    m.col(Dim-1) *= x;</div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;    *rotation = m * svd.<a class="code" href="classEigen_1_1SVDBase.html#a245a453b5e7347f737295c23133238c4">matrixV</a>().<a class="code" href="classEigen_1_1MatrixBase.html#afacca1f88da57e5cd87dd07c8ff926bb">adjoint</a>();</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;  }</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;}</div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160; </div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> PositionDerived, <span class="keyword">typename</span> OrientationType, <span class="keyword">typename</span> ScaleDerived&gt;</div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;EIGEN_DEVICE_FUNC <a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;</a>&amp;</div>
<div class="line"><a name="l01158"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#a4fbbe0434e3093ec44287f45f27b66e3"> 1158</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html">Transform&lt;Scalar,Dim,Mode,Options&gt;::fromPositionOrientationScale</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;PositionDerived&gt;</a> &amp;position,</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;  <span class="keyword">const</span> OrientationType&amp; orientation, <span class="keyword">const</span> <a class="code" href="classEigen_1_1MatrixBase.html">MatrixBase&lt;ScaleDerived&gt;</a> &amp;scale)</div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;{</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;  linear() = internal::toRotationMatrix&lt;Scalar,Dim&gt;(orientation);</div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;  linear() *= scale.<a class="code" href="classEigen_1_1MatrixBase.html#a14235b62c90f93fe910070b4743782d0">asDiagonal</a>();</div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;  translation() = position;</div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;  makeAffine();</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;}</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160; </div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160; </div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> Mode&gt;</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;<span class="keyword">struct </span>transform_make_affine</div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;{</div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> MatrixType&gt;</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keywordtype">void</span> run(MatrixType &amp;mat)</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;  {</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> Dim = MatrixType::ColsAtCompileTime-1;</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;    mat.template block&lt;1,Dim&gt;(Dim,0).setZero();</div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;    mat.coeffRef(Dim,Dim) = <span class="keyword">typename</span> MatrixType::Scalar(1);</div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;  }</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;};</div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160; </div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;<span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;<span class="keyword">struct </span>transform_make_affine&lt;<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>&gt;</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;{</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> MatrixType&gt; EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keywordtype">void</span> run(MatrixType &amp;) { }</div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;};</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160; </div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;<span class="comment">// selector needed to avoid taking the inverse of a 3x4 matrix</span></div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType, <span class="keywordtype">int</span> Mode=TransformType::Mode&gt;</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;<span class="keyword">struct </span>projective_transform_inverse</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;{</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> TransformType&amp;, TransformType&amp;)</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;  {}</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;};</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160; </div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType&gt;</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;<span class="keyword">struct </span>projective_transform_inverse&lt;TransformType, <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>&gt;</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;{</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;  EIGEN_DEVICE_FUNC <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> TransformType&amp; m, TransformType&amp; res)</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;  {</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;    res.matrix() = m.matrix().inverse();</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;  }</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;};</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160; </div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160; </div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160; </div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;EIGEN_DEVICE_FUNC Transform&lt;Scalar,Dim,Mode,Options&gt;</div>
<div class="line"><a name="l01230"></a><span class="lineno"><a class="line" href="classEigen_1_1Transform.html#ab8dbcd157bf194efca1a5413c0945211"> 1230</a></span>&#160;<a class="code" href="classEigen_1_1Transform.html#ab8dbcd157bf194efca1a5413c0945211">Transform&lt;Scalar,Dim,Mode,Options&gt;::inverse</a>(<a class="code" href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">TransformTraits</a> hint)<span class="keyword"> const</span></div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;  <a class="code" href="classEigen_1_1Transform.html">Transform</a> res;</div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;  <span class="keywordflow">if</span> (hint == <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>)</div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160;  {</div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;    internal::projective_transform_inverse&lt;Transform&gt;::run(*<span class="keyword">this</span>, res);</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;  }</div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;  {</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;    <span class="keywordflow">if</span> (hint == <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>)</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;    {</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;      res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().template topLeftCorner&lt;Dim,Dim&gt;() = linear().<a class="code" href="classEigen_1_1DenseBase.html#a43cbcd866a0737eb56642c2e992f0afd">transpose</a>();</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;    }</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(hint&amp;<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>)</div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;    {</div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;      res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().template topLeftCorner&lt;Dim,Dim&gt;() = linear().<a class="code" href="classEigen_1_1MatrixBase.html#a7712eb69e8ea3c8f7b8da1c44dbdeebf">inverse</a>();</div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;    }</div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;    {</div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;      eigen_assert(<span class="keyword">false</span> &amp;&amp; <span class="stringliteral">&quot;Invalid transform traits in Transform::Inverse&quot;</span>);</div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;    }</div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;    <span class="comment">// translation and remaining parts</span></div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;    res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().template topRightCorner&lt;Dim,1&gt;()</div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;      = - res.<a class="code" href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">matrix</a>().template topLeftCorner&lt;Dim,Dim&gt;() * translation();</div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;    res.<a class="code" href="classEigen_1_1Transform.html#adb282510aef3951e1deb27466cf8167b">makeAffine</a>(); <span class="comment">// we do need this, because in the beginning res is uninitialized</span></div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;  }</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;  <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;}</div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160; </div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;<span class="keyword">namespace </span>internal {</div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160; </div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;<span class="comment">/*****************************************************</span></div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;<span class="comment">*** Specializations of take affine part            ***</span></div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;<span class="comment">*****************************************************/</span></div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160; </div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> TransformType&gt; <span class="keyword">struct </span>transform_take_affine_part {</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::AffinePart AffinePart;</div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::ConstAffinePart ConstAffinePart;</div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE AffinePart run(MatrixType&amp; m)</div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;  { <span class="keywordflow">return</span> m.template block&lt;TransformType::Dim,TransformType::HDim&gt;(0,0); }</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ConstAffinePart run(<span class="keyword">const</span> MatrixType&amp; m)</div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;  { <span class="keywordflow">return</span> m.template block&lt;TransformType::Dim,TransformType::HDim&gt;(0,0); }</div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;};</div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160; </div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> Options&gt;</div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;<span class="keyword">struct </span>transform_take_affine_part&lt;Transform&lt;Scalar,Dim,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>, Options&gt; &gt; {</div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">Transform&lt;Scalar,Dim,AffineCompact,Options&gt;::MatrixType</a> MatrixType;</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE MatrixType&amp; run(MatrixType&amp; m) { <span class="keywordflow">return</span> m; }</div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keyword">const</span> MatrixType&amp; run(<span class="keyword">const</span> MatrixType&amp; m) { <span class="keywordflow">return</span> m; }</div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;};</div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160; </div>
<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;<span class="comment">/*****************************************************</span></div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;<span class="comment">*** Specializations of construct from matrix       ***</span></div>
<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;<span class="comment">*****************************************************/</span></div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160; </div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;<span class="keyword">struct </span>transform_construct_from_matrix&lt;Other, Mode,Options,Dim,HDim, Dim,Dim&gt;</div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;{</div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keywordtype">void</span> run(Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; *transform, <span class="keyword">const</span> Other&amp; other)</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;  {</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;    transform-&gt;linear() = other;</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160;    transform-&gt;translation().setZero();</div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;    transform-&gt;makeAffine();</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;  }</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;};</div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160; </div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;<span class="keyword">struct </span>transform_construct_from_matrix&lt;Other, Mode,Options,Dim,HDim, Dim,HDim&gt;</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;{</div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keywordtype">void</span> run(Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; *transform, <span class="keyword">const</span> Other&amp; other)</div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;  {</div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;    transform-&gt;affine() = other;</div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;    transform-&gt;makeAffine();</div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;  }</div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;};</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160; </div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;<span class="keyword">struct </span>transform_construct_from_matrix&lt;Other, Mode,Options,Dim,HDim, HDim,HDim&gt;</div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;{</div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;  <span class="keyword">static</span>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keywordtype">void</span> run(Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; *transform, <span class="keyword">const</span> Other&amp; other)</div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;  { transform-&gt;matrix() = other; }</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;};</div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160; </div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;<span class="keyword">struct </span>transform_construct_from_matrix&lt;Other, <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>,Options,Dim,HDim, HDim,HDim&gt;</div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;{</div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;  <span class="keyword">static</span>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE <span class="keywordtype">void</span> run(Transform&lt;typename Other::Scalar,Dim,AffineCompact,Options&gt; *transform, <span class="keyword">const</span> Other&amp; other)</div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;  { transform-&gt;matrix() = other.template block&lt;Dim,HDim&gt;(0,0); }</div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;};</div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160; </div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;<span class="comment">/**********************************************************</span></div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;<span class="comment">***   Specializations of operator* with rhs EigenBase   ***</span></div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;<span class="comment">**********************************************************/</span></div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160; </div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;<span class="keyword">template</span>&lt;<span class="keywordtype">int</span> LhsMode,<span class="keywordtype">int</span> RhsMode&gt;</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160;<span class="keyword">struct </span>transform_product_result</div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;{</div>
<div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;  <span class="keyword">enum</span></div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;  {</div>
<div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160;    Mode =</div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;      (LhsMode == (int)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>    || RhsMode == (<span class="keywordtype">int</span>)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>    ) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a> :</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;      (LhsMode == (<span class="keywordtype">int</span>)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>        || RhsMode == (int)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a>        ) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Affine</a> :</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;      (LhsMode == (int)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a> || RhsMode == (<span class="keywordtype">int</span>)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a> ) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a> :</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;      (LhsMode == (<span class="keywordtype">int</span>)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>      || RhsMode == (int)<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a>      ) ? <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Isometry</a> : <a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a></div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160;  };</div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;};</div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160; </div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> TransformType, <span class="keyword">typename</span> MatrixType, <span class="keywordtype">int</span> RhsCols&gt;</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;<span class="keyword">struct </span>transform_right_product_impl&lt; TransformType, MatrixType, 0, RhsCols&gt;</div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;{</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::PlainObject ResultType;</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160; </div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(<span class="keyword">const</span> TransformType&amp; T, <span class="keyword">const</span> MatrixType&amp; other)</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;  {</div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;    <span class="keywordflow">return</span> T.matrix() * other;</div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;  }</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;};</div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160; </div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> TransformType, <span class="keyword">typename</span> MatrixType, <span class="keywordtype">int</span> RhsCols&gt;</div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;<span class="keyword">struct </span>transform_right_product_impl&lt; TransformType, MatrixType, 1, RhsCols&gt;</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;{</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;    Dim = TransformType::Dim,</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;    HDim = TransformType::HDim,</div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;    OtherRows = MatrixType::RowsAtCompileTime,</div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;    OtherCols = MatrixType::ColsAtCompileTime</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;  };</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160; </div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::PlainObject ResultType;</div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160; </div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(<span class="keyword">const</span> TransformType&amp; T, <span class="keyword">const</span> MatrixType&amp; other)</div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;  {</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;    EIGEN_STATIC_ASSERT(OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);</div>
<div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160; </div>
<div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;    <span class="keyword">typedef</span> Block&lt;ResultType, Dim, OtherCols, int(MatrixType::RowsAtCompileTime)==Dim&gt; TopLeftLhs;</div>
<div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160; </div>
<div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;    ResultType res(other.rows(),other.cols());</div>
<div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() = T.affine() * other;</div>
<div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;    res.row(OtherRows-1) = other.row(OtherRows-1);</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160; </div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160;  }</div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;};</div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160; </div>
<div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> TransformType, <span class="keyword">typename</span> MatrixType, <span class="keywordtype">int</span> RhsCols&gt;</div>
<div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;<span class="keyword">struct </span>transform_right_product_impl&lt; TransformType, MatrixType, 2, RhsCols&gt;</div>
<div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;{</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;    Dim = TransformType::Dim,</div>
<div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;    HDim = TransformType::HDim,</div>
<div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;    OtherRows = MatrixType::RowsAtCompileTime,</div>
<div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;    OtherCols = MatrixType::ColsAtCompileTime</div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;  };</div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160; </div>
<div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::PlainObject ResultType;</div>
<div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160; </div>
<div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(<span class="keyword">const</span> TransformType&amp; T, <span class="keyword">const</span> MatrixType&amp; other)</div>
<div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;  {</div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);</div>
<div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160; </div>
<div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160;    <span class="keyword">typedef</span> Block&lt;ResultType, Dim, OtherCols, true&gt; TopLeftLhs;</div>
<div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;    ResultType res(Replicate&lt;typename TransformType::ConstTranslationPart, 1, OtherCols&gt;(T.translation(),1,other.cols()));</div>
<div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160;    TopLeftLhs(res, 0, 0, Dim, other.cols()).noalias() += T.linear() * other;</div>
<div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160; </div>
<div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;  }</div>
<div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;};</div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160; </div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;<span class="keyword">template</span>&lt; <span class="keyword">typename</span> TransformType, <span class="keyword">typename</span> MatrixType &gt;</div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;<span class="keyword">struct </span>transform_right_product_impl&lt; TransformType, MatrixType, 2, 1&gt; <span class="comment">// rhs is a vector of size Dim</span></div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;{</div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType TransformMatrix;</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;  <span class="keyword">enum</span> {</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;    Dim = TransformType::Dim,</div>
<div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;    HDim = TransformType::HDim,</div>
<div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;    OtherRows = MatrixType::RowsAtCompileTime,</div>
<div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160;    WorkingRows = plain_enum_min(TransformMatrix::RowsAtCompileTime, HDim)</div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;  };</div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160; </div>
<div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> MatrixType::PlainObject ResultType;</div>
<div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160; </div>
<div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;  <span class="keyword">static</span> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ResultType run(<span class="keyword">const</span> TransformType&amp; T, <span class="keyword">const</span> MatrixType&amp; other)</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;  {</div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);</div>
<div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160; </div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;    Matrix&lt;typename ResultType::Scalar, Dim+1, 1&gt; rhs;</div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;    rhs.template head&lt;Dim&gt;() = other; rhs[Dim] = <span class="keyword">typename</span> ResultType::Scalar(1);</div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;    Matrix&lt;typename ResultType::Scalar, WorkingRows, 1&gt; res(T.matrix() * rhs);</div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;    <span class="keywordflow">return</span> res.template head&lt;Dim&gt;();</div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160;  }</div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;};</div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160; </div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;<span class="comment">/**********************************************************</span></div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160;<span class="comment">***   Specializations of operator* with lhs EigenBase   ***</span></div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;<span class="comment">**********************************************************/</span></div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160; </div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;<span class="comment">// generic HDim x HDim matrix * T =&gt; Projective</span></div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other,<span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;<span class="keyword">struct </span>transform_left_product_impl&lt;Other,Mode,Options,Dim,HDim, HDim,HDim&gt;</div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;{</div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; TransformType;</div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,Projective,Options&gt; ResultType;</div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Other&amp; other,<span class="keyword">const</span> TransformType&amp; tr)</div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;  { <span class="keywordflow">return</span> ResultType(other * tr.matrix()); }</div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;};</div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160; </div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;<span class="comment">// generic HDim x HDim matrix * AffineCompact =&gt; Projective</span></div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;<span class="keyword">struct </span>transform_left_product_impl&lt;Other,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>,Options,Dim,HDim, HDim,HDim&gt;</div>
<div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;{</div>
<div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,AffineCompact,Options&gt; TransformType;</div>
<div class="line"><a name="l01443"></a><span class="lineno"> 1443</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,Projective,Options&gt; ResultType;</div>
<div class="line"><a name="l01445"></a><span class="lineno"> 1445</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Other&amp; other,<span class="keyword">const</span> TransformType&amp; tr)</div>
<div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160;  {</div>
<div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;    ResultType res;</div>
<div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;    res.matrix().noalias() = other.template block&lt;HDim,Dim&gt;(0,0) * tr.matrix();</div>
<div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;    res.matrix().col(Dim) += other.col(Dim);</div>
<div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160;  }</div>
<div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;};</div>
<div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160; </div>
<div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160;<span class="comment">// affine matrix * T</span></div>
<div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other,<span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;<span class="keyword">struct </span>transform_left_product_impl&lt;Other,Mode,Options,Dim,HDim, Dim,HDim&gt;</div>
<div class="line"><a name="l01457"></a><span class="lineno"> 1457</span>&#160;{</div>
<div class="line"><a name="l01458"></a><span class="lineno"> 1458</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; TransformType;</div>
<div class="line"><a name="l01459"></a><span class="lineno"> 1459</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160;  <span class="keyword">typedef</span> TransformType ResultType;</div>
<div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Other&amp; other,<span class="keyword">const</span> TransformType&amp; tr)</div>
<div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;  {</div>
<div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;    ResultType res;</div>
<div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160;    res.affine().noalias() = other * tr.matrix();</div>
<div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;    res.matrix().row(Dim) = tr.matrix().row(Dim);</div>
<div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160;  }</div>
<div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;};</div>
<div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160; </div>
<div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;<span class="comment">// affine matrix * AffineCompact</span></div>
<div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160;<span class="keyword">struct </span>transform_left_product_impl&lt;Other,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>,Options,Dim,HDim, Dim,HDim&gt;</div>
<div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160;{</div>
<div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,AffineCompact,Options&gt; TransformType;</div>
<div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;  <span class="keyword">typedef</span> TransformType ResultType;</div>
<div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Other&amp; other,<span class="keyword">const</span> TransformType&amp; tr)</div>
<div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160;  {</div>
<div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160;    ResultType res;</div>
<div class="line"><a name="l01480"></a><span class="lineno"> 1480</span>&#160;    res.matrix().noalias() = other.template block&lt;Dim,Dim&gt;(0,0) * tr.matrix();</div>
<div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160;    res.translation() += other.col(Dim);</div>
<div class="line"><a name="l01482"></a><span class="lineno"> 1482</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;  }</div>
<div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;};</div>
<div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160; </div>
<div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;<span class="comment">// linear matrix * T</span></div>
<div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Other,<span class="keywordtype">int</span> Mode, <span class="keywordtype">int</span> Options, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> HDim&gt;</div>
<div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160;<span class="keyword">struct </span>transform_left_product_impl&lt;Other,Mode,Options,Dim,HDim, Dim,Dim&gt;</div>
<div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;{</div>
<div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;  <span class="keyword">typedef</span> Transform&lt;typename Other::Scalar,Dim,Mode,Options&gt; TransformType;</div>
<div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformType::MatrixType MatrixType;</div>
<div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;  <span class="keyword">typedef</span> TransformType ResultType;</div>
<div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Other&amp; other, <span class="keyword">const</span> TransformType&amp; tr)</div>
<div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160;  {</div>
<div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;    TransformType res;</div>
<div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160;    <span class="keywordflow">if</span>(Mode!=<span class="keywordtype">int</span>(<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>))</div>
<div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;      res.matrix().row(Dim) = tr.matrix().row(Dim);</div>
<div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;    res.matrix().template topRows&lt;Dim&gt;().noalias()</div>
<div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;      = other * tr.matrix().template topRows&lt;Dim&gt;();</div>
<div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160;  }</div>
<div class="line"><a name="l01502"></a><span class="lineno"> 1502</span>&#160;};</div>
<div class="line"><a name="l01503"></a><span class="lineno"> 1503</span>&#160; </div>
<div class="line"><a name="l01504"></a><span class="lineno"> 1504</span>&#160;<span class="comment">/**********************************************************</span></div>
<div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;<span class="comment">*** Specializations of operator* with another Transform ***</span></div>
<div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;<span class="comment">**********************************************************/</span></div>
<div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160; </div>
<div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> LhsMode, <span class="keywordtype">int</span> LhsOptions, <span class="keywordtype">int</span> RhsMode, <span class="keywordtype">int</span> RhsOptions&gt;</div>
<div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;<span class="keyword">struct </span>transform_transform_product_impl&lt;Transform&lt;Scalar,Dim,LhsMode,LhsOptions&gt;,Transform&lt;Scalar,Dim,RhsMode,RhsOptions&gt;,false &gt;</div>
<div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;{</div>
<div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;  <span class="keyword">enum</span> { ResultMode = transform_product_result&lt;LhsMode,RhsMode&gt;::Mode };</div>
<div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,LhsMode,LhsOptions&gt; Lhs;</div>
<div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,RhsMode,RhsOptions&gt; Rhs;</div>
<div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,ResultMode,LhsOptions&gt; ResultType;</div>
<div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Lhs&amp; lhs, <span class="keyword">const</span> Rhs&amp; rhs)</div>
<div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;  {</div>
<div class="line"><a name="l01517"></a><span class="lineno"> 1517</span>&#160;    ResultType res;</div>
<div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;    res.linear() = lhs.linear() * rhs.linear();</div>
<div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160;    res.translation() = lhs.linear() * rhs.translation() + lhs.translation();</div>
<div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160;    res.makeAffine();</div>
<div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;  }</div>
<div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;};</div>
<div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160; </div>
<div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> LhsMode, <span class="keywordtype">int</span> LhsOptions, <span class="keywordtype">int</span> RhsMode, <span class="keywordtype">int</span> RhsOptions&gt;</div>
<div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;<span class="keyword">struct </span>transform_transform_product_impl&lt;Transform&lt;Scalar,Dim,LhsMode,LhsOptions&gt;,Transform&lt;Scalar,Dim,RhsMode,RhsOptions&gt;,true &gt;</div>
<div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160;{</div>
<div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,LhsMode,LhsOptions&gt; Lhs;</div>
<div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,RhsMode,RhsOptions&gt; Rhs;</div>
<div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Projective&gt; ResultType;</div>
<div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Lhs&amp; lhs, <span class="keyword">const</span> Rhs&amp; rhs)</div>
<div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;  {</div>
<div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;    <span class="keywordflow">return</span> ResultType( lhs.matrix() * rhs.matrix() );</div>
<div class="line"><a name="l01534"></a><span class="lineno"> 1534</span>&#160;  }</div>
<div class="line"><a name="l01535"></a><span class="lineno"> 1535</span>&#160;};</div>
<div class="line"><a name="l01536"></a><span class="lineno"> 1536</span>&#160; </div>
<div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> LhsOptions, <span class="keywordtype">int</span> RhsOptions&gt;</div>
<div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160;<span class="keyword">struct </span>transform_transform_product_impl&lt;Transform&lt;Scalar,Dim,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>,LhsOptions&gt;,Transform&lt;Scalar,Dim,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>,RhsOptions&gt;,true &gt;</div>
<div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;{</div>
<div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,AffineCompact,LhsOptions&gt; Lhs;</div>
<div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Projective,RhsOptions&gt; Rhs;</div>
<div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Projective&gt; ResultType;</div>
<div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Lhs&amp; lhs, <span class="keyword">const</span> Rhs&amp; rhs)</div>
<div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;  {</div>
<div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160;    ResultType res;</div>
<div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;    res.matrix().template topRows&lt;Dim&gt;() = lhs.matrix() * rhs.matrix();</div>
<div class="line"><a name="l01547"></a><span class="lineno"> 1547</span>&#160;    res.matrix().row(Dim) = rhs.matrix().row(Dim);</div>
<div class="line"><a name="l01548"></a><span class="lineno"> 1548</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01549"></a><span class="lineno"> 1549</span>&#160;  }</div>
<div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;};</div>
<div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160; </div>
<div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar, <span class="keywordtype">int</span> Dim, <span class="keywordtype">int</span> LhsOptions, <span class="keywordtype">int</span> RhsOptions&gt;</div>
<div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;<span class="keyword">struct </span>transform_transform_product_impl&lt;Transform&lt;Scalar,Dim,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Projective</a>,LhsOptions&gt;,Transform&lt;Scalar,Dim,<a class="code" href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">AffineCompact</a>,RhsOptions&gt;,true &gt;</div>
<div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160;{</div>
<div class="line"><a name="l01555"></a><span class="lineno"> 1555</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Projective,LhsOptions&gt; Lhs;</div>
<div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,AffineCompact,RhsOptions&gt; Rhs;</div>
<div class="line"><a name="l01557"></a><span class="lineno"> 1557</span>&#160;  <span class="keyword">typedef</span> Transform&lt;Scalar,Dim,Projective&gt; ResultType;</div>
<div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;  <span class="keyword">static</span> ResultType run(<span class="keyword">const</span> Lhs&amp; lhs, <span class="keyword">const</span> Rhs&amp; rhs)</div>
<div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;  {</div>
<div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160;    ResultType res(lhs.matrix().template leftCols&lt;Dim&gt;() * rhs.matrix());</div>
<div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160;    res.matrix().col(Dim) += lhs.matrix().col(Dim);</div>
<div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160;    <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;  }</div>
<div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;};</div>
<div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160; </div>
<div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;} <span class="comment">// end namespace internal</span></div>
<div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160; </div>
<div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;} <span class="comment">// end namespace Eigen</span></div>
<div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160; </div>
<div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_TRANSFORM_H</span></div>
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<div class="ttc" id="aclassEigen_1_1DenseBase_html_ae8443357b808cd393be1b51974213f9c"><div class="ttname"><a href="classEigen_1_1DenseBase.html#ae8443357b808cd393be1b51974213f9c">Eigen::DenseBase::isApprox</a></div><div class="ttdeci">bool isApprox(const DenseBase&lt; OtherDerived &gt; &amp;other, const RealScalar &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> Fuzzy.h:105</div></div>
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<div class="ttc" id="aclassEigen_1_1MatrixBase_html"><div class="ttname"><a href="classEigen_1_1MatrixBase.html">Eigen::MatrixBase</a></div><div class="ttdoc">Base class for all dense matrices, vectors, and expressions.</div><div class="ttdef"><b>Definition:</b> MatrixBase.h:52</div></div>
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<div class="ttc" id="aclassEigen_1_1SVDBase_html_a4e7bac123570c348f7ed6be909e1e474"><div class="ttname"><a href="classEigen_1_1SVDBase.html#a4e7bac123570c348f7ed6be909e1e474">Eigen::SVDBase::singularValues</a></div><div class="ttdeci">const SingularValuesType &amp; singularValues() const</div><div class="ttdef"><b>Definition:</b> SVDBase.h:203</div></div>
<div class="ttc" id="aclassEigen_1_1SVDBase_html_afc7fe1546b0f6e1801b86f22f5664cb8"><div class="ttname"><a href="classEigen_1_1SVDBase.html#afc7fe1546b0f6e1801b86f22f5664cb8">Eigen::SVDBase::matrixU</a></div><div class="ttdeci">const MatrixUType &amp; matrixU() const</div><div class="ttdef"><b>Definition:</b> SVDBase.h:175</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html"><div class="ttname"><a href="classEigen_1_1Transform.html">Eigen::Transform</a></div><div class="ttdoc">Represents an homogeneous transformation in a N dimensional space.</div><div class="ttdef"><b>Definition:</b> Transform.h:207</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a01b957a1a2779b30c7756c7ccc74fdb3"><div class="ttname"><a href="classEigen_1_1Transform.html#a01b957a1a2779b30c7756c7ccc74fdb3">Eigen::Transform::data</a></div><div class="ttdeci">Scalar * data()</div><div class="ttdef"><b>Definition:</b> Transform.h:624</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a084060033661f673a7a05eb9b28d1584"><div class="ttname"><a href="classEigen_1_1Transform.html#a084060033661f673a7a05eb9b28d1584">Eigen::Transform::affine</a></div><div class="ttdeci">ConstAffinePart affine() const</div><div class="ttdef"><b>Definition:</b> Transform.h:403</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a0919aff2b16c0c97cbfa4dd16a71c946"><div class="ttname"><a href="classEigen_1_1Transform.html#a0919aff2b16c0c97cbfa4dd16a71c946">Eigen::Transform::ConstAffinePart</a></div><div class="ttdeci">std::conditional_t&lt; int(Mode)==int(AffineCompact), const MatrixType &amp;, const Block&lt; const MatrixType, Dim, HDim &gt; &gt; ConstAffinePart</div><div class="ttdef"><b>Definition:</b> Transform.h:238</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a10681d9bbc6a7a81a9111b1f9e186948"><div class="ttname"><a href="classEigen_1_1Transform.html#a10681d9bbc6a7a81a9111b1f9e186948">Eigen::Transform::linear</a></div><div class="ttdeci">ConstLinearPart linear() const</div><div class="ttdef"><b>Definition:</b> Transform.h:398</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a15ba7101d08163b421ab439c90721524"><div class="ttname"><a href="classEigen_1_1Transform.html#a15ba7101d08163b421ab439c90721524">Eigen::Transform::Identity</a></div><div class="ttdeci">static const Transform Identity()</div><div class="ttdoc">Returns an identity transformation.</div><div class="ttdef"><b>Definition:</b> Transform.h:537</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a17c40209cfd2d094cf654504aca95bf1"><div class="ttname"><a href="classEigen_1_1Transform.html#a17c40209cfd2d094cf654504aca95bf1">Eigen::Transform::preshear</a></div><div class="ttdeci">Transform &amp; preshear(const Scalar &amp;sx, const Scalar &amp;sy)</div><div class="ttdef"><b>Definition:</b> Transform.h:991</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a247b079c63f46bb652b3776484838216"><div class="ttname"><a href="classEigen_1_1Transform.html#a247b079c63f46bb652b3776484838216">Eigen::Transform::computeScalingRotation</a></div><div class="ttdeci">void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const</div><div class="ttdef"><b>Definition:</b> Transform.h:1135</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a2c59f34fa172d9781f1bdd18d83e6c23"><div class="ttname"><a href="classEigen_1_1Transform.html#a2c59f34fa172d9781f1bdd18d83e6c23">Eigen::Transform::MatrixType</a></div><div class="ttdeci">internal::make_proper_matrix_type&lt; Scalar, Rows, HDim, Options &gt;::type MatrixType</div><div class="ttdef"><b>Definition:</b> Transform.h:222</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a2cf0102f72714f18ff3bf787e4b5b5a7"><div class="ttname"><a href="classEigen_1_1Transform.html#a2cf0102f72714f18ff3bf787e4b5b5a7">Eigen::Transform::operator()</a></div><div class="ttdeci">Scalar operator()(Index row, Index col) const</div><div class="ttdef"><b>Definition:</b> Transform.h:387</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a37f6f58b51298ca64c6cf8457a73538d"><div class="ttname"><a href="classEigen_1_1Transform.html#a37f6f58b51298ca64c6cf8457a73538d">Eigen::Transform::Scalar</a></div><div class="ttdeci">Scalar_ Scalar</div><div class="ttdef"><b>Definition:</b> Transform.h:216</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a3ed6d91135a87d168d5470a51f1dbb3b"><div class="ttname"><a href="classEigen_1_1Transform.html#a3ed6d91135a87d168d5470a51f1dbb3b">Eigen::Transform::cast</a></div><div class="ttdeci">internal::cast_return_type&lt; Transform, Transform&lt; NewScalarType, Dim, Mode, Options &gt; &gt;::type cast() const</div><div class="ttdef"><b>Definition:</b> Transform.h:632</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a50338fe8ce60e175fa5a42046ea70ed0"><div class="ttname"><a href="classEigen_1_1Transform.html#a50338fe8ce60e175fa5a42046ea70ed0">Eigen::Transform::matrix</a></div><div class="ttdeci">MatrixType &amp; matrix()</div><div class="ttdef"><b>Definition:</b> Transform.h:395</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a539fc3e91b20a43613bfefb8a4fb8a0e"><div class="ttname"><a href="classEigen_1_1Transform.html#a539fc3e91b20a43613bfefb8a4fb8a0e">Eigen::Transform::translation</a></div><div class="ttdeci">ConstTranslationPart translation() const</div><div class="ttdef"><b>Definition:</b> Transform.h:408</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a5667367476f2c9a0257ae2614e5ec5ad"><div class="ttname"><a href="classEigen_1_1Transform.html#a5667367476f2c9a0257ae2614e5ec5ad">Eigen::Transform::matrix</a></div><div class="ttdeci">const MatrixType &amp; matrix() const</div><div class="ttdef"><b>Definition:</b> Transform.h:393</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a5ca48af274337349e9b8d129ecf7c35b"><div class="ttname"><a href="classEigen_1_1Transform.html#a5ca48af274337349e9b8d129ecf7c35b">Eigen::Transform::isApprox</a></div><div class="ttdeci">bool isApprox(const Transform &amp;other, const typename NumTraits&lt; Scalar &gt;::Real &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> Transform.h:647</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a61b7a97da2ce3e46902d97af27c1a79a"><div class="ttname"><a href="classEigen_1_1Transform.html#a61b7a97da2ce3e46902d97af27c1a79a">Eigen::Transform::affine</a></div><div class="ttdeci">AffinePart affine()</div><div class="ttdef"><b>Definition:</b> Transform.h:405</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a7213fd78501c1185c4a1441e33c812d3"><div class="ttname"><a href="classEigen_1_1Transform.html#a7213fd78501c1185c4a1441e33c812d3">Eigen::Transform::computeRotationScaling</a></div><div class="ttdeci">void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const</div><div class="ttdef"><b>Definition:</b> Transform.h:1105</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a79155e1b04e73051ae194fe62cb980fd"><div class="ttname"><a href="classEigen_1_1Transform.html#a79155e1b04e73051ae194fe62cb980fd">Eigen::Transform::setIdentity</a></div><div class="ttdeci">void setIdentity()</div><div class="ttdef"><b>Definition:</b> Transform.h:531</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a7924a893752f42d33ca8dca33280ebc7"><div class="ttname"><a href="classEigen_1_1Transform.html#a7924a893752f42d33ca8dca33280ebc7">Eigen::Transform::EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar_, Dim_==Dynamic ? Dynamic :(Dim_+1) *(Dim_+1)) enum</div><div class="ttdef"><b>Definition:</b> Transform.h:209</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a7b27e078095260aebef444023b96d090"><div class="ttname"><a href="classEigen_1_1Transform.html#a7b27e078095260aebef444023b96d090">Eigen::Transform::VectorType</a></div><div class="ttdeci">Matrix&lt; Scalar, Dim, 1 &gt; VectorType</div><div class="ttdef"><b>Definition:</b> Transform.h:240</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a8a56c160574e9f4da03c987a12eefb68"><div class="ttname"><a href="classEigen_1_1Transform.html#a8a56c160574e9f4da03c987a12eefb68">Eigen::Transform::TransformTimeDiagonalReturnType</a></div><div class="ttdeci">Transform&lt; Scalar, Dim, TransformTimeDiagonalMode &gt; TransformTimeDiagonalReturnType</div><div class="ttdef"><b>Definition:</b> Transform.h:251</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a8aafb7e536e68b13b05a5cbd24d71379"><div class="ttname"><a href="classEigen_1_1Transform.html#a8aafb7e536e68b13b05a5cbd24d71379">Eigen::Transform::linear</a></div><div class="ttdeci">LinearPart linear()</div><div class="ttdef"><b>Definition:</b> Transform.h:400</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a8b3f4dc5db398c62d0e01f9d1741fa95"><div class="ttname"><a href="classEigen_1_1Transform.html#a8b3f4dc5db398c62d0e01f9d1741fa95">Eigen::Transform::operator*</a></div><div class="ttdeci">const internal::transform_right_product_impl&lt; Transform, OtherDerived &gt;::ResultType operator*(const EigenBase&lt; OtherDerived &gt; &amp;other) const</div><div class="ttdef"><b>Definition:</b> Transform.h:439</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a98ad9f68ecea39c6f0b5fcf184fbcb47"><div class="ttname"><a href="classEigen_1_1Transform.html#a98ad9f68ecea39c6f0b5fcf184fbcb47">Eigen::Transform::TranslationPart</a></div><div class="ttdeci">Block&lt; MatrixType, Dim, 1,!(internal::traits&lt; MatrixType &gt;::Flags &amp;RowMajorBit)&gt; TranslationPart</div><div class="ttdef"><b>Definition:</b> Transform.h:242</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_a9ebace9975ee01a2b82f63ee353a549a"><div class="ttname"><a href="classEigen_1_1Transform.html#a9ebace9975ee01a2b82f63ee353a549a">Eigen::Transform::ConstLinearPart</a></div><div class="ttdeci">const Block&lt; ConstMatrixType, Dim, Dim, int(Mode)==(AffineCompact) &amp;&amp;(int(Options)&amp;RowMajor)==0 &gt; ConstLinearPart</div><div class="ttdef"><b>Definition:</b> Transform.h:230</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_aa4d22f6827bf7c2b67d0c609c8e31fdb"><div class="ttname"><a href="classEigen_1_1Transform.html#aa4d22f6827bf7c2b67d0c609c8e31fdb">Eigen::Transform::AffinePart</a></div><div class="ttdeci">std::conditional_t&lt; int(Mode)==int(AffineCompact), MatrixType &amp;, Block&lt; MatrixType, Dim, HDim &gt; &gt; AffinePart</div><div class="ttdef"><b>Definition:</b> Transform.h:234</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_aa9d2c3a9e3c7883621ccf723844e86da"><div class="ttname"><a href="classEigen_1_1Transform.html#aa9d2c3a9e3c7883621ccf723844e86da">Eigen::Transform::operator=</a></div><div class="ttdeci">Transform &amp; operator=(const EigenBase&lt; OtherDerived &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Transform.h:299</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_aac6142c294732a1ce692799c908fa81a"><div class="ttname"><a href="classEigen_1_1Transform.html#aac6142c294732a1ce692799c908fa81a">Eigen::Transform::Transform</a></div><div class="ttdeci">Transform(const Transform&lt; OtherScalarType, Dim, Mode, Options &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Transform.h:637</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ab1e42db8cdffea634f4094d56850ab6e"><div class="ttname"><a href="classEigen_1_1Transform.html#ab1e42db8cdffea634f4094d56850ab6e">Eigen::Transform::Transform</a></div><div class="ttdeci">Transform(const EigenBase&lt; OtherDerived &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> Transform.h:288</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ab8dbcd157bf194efca1a5413c0945211"><div class="ttname"><a href="classEigen_1_1Transform.html#ab8dbcd157bf194efca1a5413c0945211">Eigen::Transform::inverse</a></div><div class="ttdeci">Transform inverse(TransformTraits traits=(TransformTraits) Mode) const</div><div class="ttdef"><b>Definition:</b> Transform.h:1230</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_acafc06db5d5cc36e316a5d85d5fa7bc8"><div class="ttname"><a href="classEigen_1_1Transform.html#acafc06db5d5cc36e316a5d85d5fa7bc8">Eigen::Transform::data</a></div><div class="ttdeci">const Scalar * data() const</div><div class="ttdef"><b>Definition:</b> Transform.h:622</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ad6d84e2c0438b13fc4fff332aca116fa"><div class="ttname"><a href="classEigen_1_1Transform.html#ad6d84e2c0438b13fc4fff332aca116fa">Eigen::Transform::LinearPart</a></div><div class="ttdeci">Block&lt; MatrixType, Dim, Dim, int(Mode)==(AffineCompact) &amp;&amp;(int(Options)&amp;RowMajor)==0 &gt; LinearPart</div><div class="ttdef"><b>Definition:</b> Transform.h:228</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ad73300a550f878bb7f34485c3d132746"><div class="ttname"><a href="classEigen_1_1Transform.html#ad73300a550f878bb7f34485c3d132746">Eigen::Transform::rotation</a></div><div class="ttdeci">RotationReturnType rotation() const</div><div class="ttdef"><b>Definition:</b> Transform.h:1086</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ada1f35e4ec62a77c63c99282f95cbbc8"><div class="ttname"><a href="classEigen_1_1Transform.html#ada1f35e4ec62a77c63c99282f95cbbc8">Eigen::Transform::ConstMatrixType</a></div><div class="ttdeci">const MatrixType ConstMatrixType</div><div class="ttdef"><b>Definition:</b> Transform.h:224</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_adb282510aef3951e1deb27466cf8167b"><div class="ttname"><a href="classEigen_1_1Transform.html#adb282510aef3951e1deb27466cf8167b">Eigen::Transform::makeAffine</a></div><div class="ttdeci">void makeAffine()</div><div class="ttdef"><b>Definition:</b> Transform.h:652</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae0f9a88eecc888dbffb8b27f67d2e540"><div class="ttname"><a href="classEigen_1_1Transform.html#ae0f9a88eecc888dbffb8b27f67d2e540">Eigen::Transform::ConstTranslationPart</a></div><div class="ttdeci">const Block&lt; ConstMatrixType, Dim, 1,!(internal::traits&lt; MatrixType &gt;::Flags &amp;RowMajorBit)&gt; ConstTranslationPart</div><div class="ttdef"><b>Definition:</b> Transform.h:244</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae14a5178e9c3b434b6ab343bba8a9232"><div class="ttname"><a href="classEigen_1_1Transform.html#ae14a5178e9c3b434b6ab343bba8a9232">Eigen::Transform::LinearMatrixType</a></div><div class="ttdeci">Matrix&lt; Scalar, Dim, Dim, Options &gt; LinearMatrixType</div><div class="ttdef"><b>Definition:</b> Transform.h:226</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae5001c5914013c18924faa92590251f6"><div class="ttname"><a href="classEigen_1_1Transform.html#ae5001c5914013c18924faa92590251f6">Eigen::Transform::Index</a></div><div class="ttdeci">Eigen::Index Index</div><div class="ttdef"><b>Definition:</b> Transform.h:220</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae6a48c9326e794b8da277f4b15aa92d1"><div class="ttname"><a href="classEigen_1_1Transform.html#ae6a48c9326e794b8da277f4b15aa92d1">Eigen::Transform::Transform</a></div><div class="ttdeci">Transform()</div><div class="ttdef"><b>Definition:</b> Transform.h:261</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae93a25d5e15af9446d7e5bc0e7a959d0"><div class="ttname"><a href="classEigen_1_1Transform.html#ae93a25d5e15af9446d7e5bc0e7a959d0">Eigen::Transform::shear</a></div><div class="ttdeci">Transform &amp; shear(const Scalar &amp;sx, const Scalar &amp;sy)</div><div class="ttdef"><b>Definition:</b> Transform.h:975</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_ae954e369a06472f44b72b199beb83cd2"><div class="ttname"><a href="classEigen_1_1Transform.html#ae954e369a06472f44b72b199beb83cd2">Eigen::Transform::toQTransform</a></div><div class="ttdeci">QTransform toQTransform(void) const</div><div class="ttdef"><b>Definition:</b> Transform.h:822</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_af0ce638b81842cd4622f67d5ab655b2e"><div class="ttname"><a href="classEigen_1_1Transform.html#af0ce638b81842cd4622f67d5ab655b2e">Eigen::Transform::TranslationType</a></div><div class="ttdeci">Translation&lt; Scalar, Dim &gt; TranslationType</div><div class="ttdef"><b>Definition:</b> Transform.h:246</div></div>
<div class="ttc" id="aclassEigen_1_1Transform_html_afbb1026d0b81b51fea103bd8fc947f57"><div class="ttname"><a href="classEigen_1_1Transform.html#afbb1026d0b81b51fea103bd8fc947f57">Eigen::Transform::translation</a></div><div class="ttdeci">TranslationPart translation()</div><div class="ttdef"><b>Definition:</b> Transform.h:410</div></div>
<div class="ttc" id="aclassEigen_1_1Translation_html"><div class="ttname"><a href="classEigen_1_1Translation.html">Eigen::Translation</a></div><div class="ttdoc">Represents a translation transformation.</div><div class="ttdef"><b>Definition:</b> Translation.h:33</div></div>
<div class="ttc" id="agroup__enums_html_gaee59a86102f150923b0cac6d4ff05107"><div class="ttname"><a href="group__enums.html#gaee59a86102f150923b0cac6d4ff05107">Eigen::TransformTraits</a></div><div class="ttdeci">TransformTraits</div><div class="ttdef"><b>Definition:</b> Constants.h:457</div></div>
<div class="ttc" id="agroup__enums_html_ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a"><div class="ttname"><a href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a56908522e51443a0aa0567f879c2e78a">Eigen::DontAlign</a></div><div class="ttdeci">@ DontAlign</div><div class="ttdef"><b>Definition:</b> Constants.h:327</div></div>
<div class="ttc" id="agroup__enums_html_ggaacded1a18ae58b0f554751f6cdf9eb13a77c993a8d9f6efe5c1159fb2ab07dd4f"><div class="ttname"><a href="group__enums.html#ggaacded1a18ae58b0f554751f6cdf9eb13a77c993a8d9f6efe5c1159fb2ab07dd4f">Eigen::RowMajor</a></div><div class="ttdeci">@ RowMajor</div><div class="ttdef"><b>Definition:</b> Constants.h:323</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0872f0a82453aaae40339c33acbb31fb">Eigen::Affine</a></div><div class="ttdeci">@ Affine</div><div class="ttdef"><b>Definition:</b> Constants.h:462</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a0f7338b8672884554e8642bce9e44183">Eigen::Projective</a></div><div class="ttdeci">@ Projective</div><div class="ttdef"><b>Definition:</b> Constants.h:466</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a8192e8fdb2ec3ec46d92956cc83ef490">Eigen::AffineCompact</a></div><div class="ttdeci">@ AffineCompact</div><div class="ttdef"><b>Definition:</b> Constants.h:464</div></div>
<div class="ttc" id="agroup__enums_html_ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef"><div class="ttname"><a href="group__enums.html#ggaee59a86102f150923b0cac6d4ff05107a84413028615d2d718bafd2dfb93dafef">Eigen::Isometry</a></div><div class="ttdeci">@ Isometry</div><div class="ttdef"><b>Definition:</b> Constants.h:459</div></div>
<div class="ttc" id="agroup__flags_html_gae4f56c2a60bbe4bd2e44c5b19cbe8762"><div class="ttname"><a href="group__flags.html#gae4f56c2a60bbe4bd2e44c5b19cbe8762">Eigen::RowMajorBit</a></div><div class="ttdeci">const unsigned int RowMajorBit</div><div class="ttdef"><b>Definition:</b> Constants.h:68</div></div>
<div class="ttc" id="anamespaceEigen_html"><div class="ttname"><a href="namespaceEigen.html">Eigen</a></div><div class="ttdoc">Namespace containing all symbols from the Eigen library.</div><div class="ttdef"><b>Definition:</b> Core:139</div></div>
<div class="ttc" id="anamespaceEigen_html_a62e77e0933482dafde8fe197d9a2cfde"><div class="ttname"><a href="namespaceEigen.html#a62e77e0933482dafde8fe197d9a2cfde">Eigen::Index</a></div><div class="ttdeci">EIGEN_DEFAULT_DENSE_INDEX_TYPE Index</div><div class="ttdoc">The Index type as used for the API.</div><div class="ttdef"><b>Definition:</b> Meta.h:59</div></div>
<div class="ttc" id="anamespaceEigen_html_ad81fa7195215a0ce30017dfac309f0b2"><div class="ttname"><a href="namespaceEigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a></div><div class="ttdeci">const int Dynamic</div><div class="ttdef"><b>Definition:</b> Constants.h:24</div></div>
<div class="ttc" id="astructEigen_1_1EigenBase_html"><div class="ttname"><a href="structEigen_1_1EigenBase.html">Eigen::EigenBase</a></div><div class="ttdef"><b>Definition:</b> EigenBase.h:32</div></div>
<div class="ttc" id="astructEigen_1_1EigenBase_html_a1fbabe7f12bcbfba3b9a448b1f5e46fa"><div class="ttname"><a href="structEigen_1_1EigenBase.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">Eigen::EigenBase::derived</a></div><div class="ttdeci">Derived &amp; derived()</div><div class="ttdef"><b>Definition:</b> EigenBase.h:48</div></div>
<div class="ttc" id="astructEigen_1_1NumTraits_html"><div class="ttname"><a href="structEigen_1_1NumTraits.html">Eigen::NumTraits</a></div><div class="ttdoc">Holds information about the various numeric (i.e. scalar) types allowed by Eigen.</div><div class="ttdef"><b>Definition:</b> NumTraits.h:231</div></div>
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